WO1982002607A1 - Systeme de commande de robot - Google Patents

Systeme de commande de robot Download PDF

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Publication number
WO1982002607A1
WO1982002607A1 PCT/JP1982/000015 JP8200015W WO8202607A1 WO 1982002607 A1 WO1982002607 A1 WO 1982002607A1 JP 8200015 W JP8200015 W JP 8200015W WO 8202607 A1 WO8202607 A1 WO 8202607A1
Authority
WO
WIPO (PCT)
Prior art keywords
reverse
pulse
solenoid valve
valve
rotation
Prior art date
Application number
PCT/JP1982/000015
Other languages
English (en)
Japanese (ja)
Inventor
Fanuc Ltd Fujitsu
Original Assignee
Inaba Hajimu
Sakakibara Shinsuke
Nihei Ryo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inaba Hajimu, Sakakibara Shinsuke, Nihei Ryo filed Critical Inaba Hajimu
Publication of WO1982002607A1 publication Critical patent/WO1982002607A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/238—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is only used to control speed in steps according to distance left, or to give a stop signal when error reaches zero
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41279—Brake
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41309—Hydraulic or pneumatic drive
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42308—Watchdog or integrator to detect no change or excess in feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43194—Speed steps, switch over as function of position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Definitions

  • the position of the wrist or the like is controlled by a wobble wheel w, and the position of the movable member is exactly equal to the command position W.
  • ! Shows the mouth-opening method that can be used.
  • FIG. 1 is a diagram showing an example of such an industrial robot.]
  • FIG. 1 (a) is a plan view thereof, and FIG. 1 (b) is a plan view thereof.
  • ⁇ H is for work exchange etc.
  • HL is for recirculation ( ⁇ -pulled) and up-and-down ( ⁇ 3 ⁇ 4) is possible.
  • AM is a resident (H li) resident
  • CS is an up-and-down ((:) and ⁇ di C 0) possible case with respect to a quartet PL
  • F Ri- is an iS IPL
  • the supporting frame TB is 7 ⁇ 2.
  • Operation display ⁇ Operation display ⁇ , 0 P is the operation panel of operator operation ⁇ , CNT is the teaching operation 3 ⁇ 4
  • the necessary service operation must be taught in advance.
  • the robot command data is sequentially read out, and the The operation of the hand MH, the wrist HL, the M, and the casing GS is created, and the operation is repeated to the tower to provide an iterative service.
  • the robot command data includes the point information to be serviced, the operating speed information, the control of the hand at the point, and the signal to and from the machine side] 3 and D, etc. Service code that instructs you] 3 ⁇ It is made up.
  • the movable parts such as the wrists are conventionally located at the position where the fluid is moved, such as empty E or hydraulic pressure.
  • the movable sound 3 such as the wrist at an arbitrary command position with high accuracy in the case of the flow-floating movement. 2nd place Just stopping.
  • a movable part such as a wrist can be stopped at a desired command position with high accuracy by using any pneumatic or hydraulic fluid driving mechanism.
  • the purpose is to propose a Roho's method :: ⁇ method that can extend the crawling range garden of a kit.
  • the present invention provides a robot control system in which a movable portion of a robot is positioned at a command position by driving a body driving mechanism.
  • a fluid valve that includes a forward solenoid valve and a reverse solenoid valve that moves in the forward or reverse direction, and a high-speed valve that reduces the air flow and speeds the moving connection structure.
  • tC nucleus structure, detecting means for detecting the position of the movable part, and calculating a difference between the command position S and the detected current position of the movable part, wherein the difference is set to a first predetermined value.
  • the control unit checks whether or not a position pulse of the detection means has occurred within a predetermined time when one of the forward solenoid valve and the reverse solenoid valve is operating.
  • a means is provided to check the forward direction solenoid valve and reverse direction valve assuming that 13 ⁇ 4 operation has occurred in the movable part fluid system when the pulse does not occur within the predetermined time. It is a fresh start. This makes it possible to simply detect a malfunction in the position-based street system, so that the movable part runs away and damages the work, the machine core, and the like.
  • FIG. 1 is a plan view and a loading diagram of a general industrial ⁇ -hot
  • FIG. 2 is an explanatory view of an embodiment of a wrist mechanism of an industrial robot according to the present invention
  • FIG. 3 is a wrist in FIG. Fig. 4 and Fig. 5 show the principle of detecting the wrist position of a structure.
  • Fig. 4 shows the principle of a pneumatic control system that rotates, reverses and decelerates the air motor in Fig. 2 in Fig. 2.
  • Fig. 5 shows the pneumatic system mounted on the wrist.
  • Fig. 7 is a circuit block diagram of Honshiki
  • Fig. 8 is a time chart of the same
  • Fig. 9 is a block diagram of Honshiki detecting malfunction.
  • FIG. 10 is a circuit diagram of the malfunction monitoring circuit of FIG.
  • FIG. 2 shows the wrist model HL of an industrial robot according to ⁇ 9 of this invention: HL: ⁇ Instructions ⁇ Hi, Fifth is the wrist position of the second Si wrist ⁇ c:.:? I FIG. 4 is an explanatory diagram of a detection principle.
  • 1 is an air motor driven by compressed air supplied from an unillustrated air section
  • 2 and S are pulleys
  • 4 is a belt
  • the torque of the air motor 1 is transmitted to the shaft 5 supported by the bearing.
  • ⁇ is a brake structure
  • 7 is a sensor disk, which rotates together with the shaft 5, and its circular section 3 ⁇ 4 has the shape shown in Fig. 5 (a) to (c).
  • Two 2 mm magnet pieces 7a, 7a; 7b, 7b are included. Magnet pieces 7 a, 7 a is against the each other on one surface of the cell Nsadi scan click 7 to dry the disc 7 1 8 0.
  • the magnet pieces 7 b, 7 b are mutually 180 ° on the other side of the sensor disk 7 . Embedded. And the
  • the magnet pieces 7a and 7b, and 7a and 7b are arranged halfway from each other.
  • 8a and 8b are magnetic sensors], which are fixed to the body 14 so as to face the magnet pieces 7a, 7a, 7b and 7b, respectively. Therefore, depending on whether the motor 1 (shaft 5 :) is rotating forward or reverse, two types having the positional relations shown in FIGS. 3 (d) and (e) are obtained.
  • Pulse signal P A P B is generated.
  • PA, PB are pulse signals generated by the magnetic sensors 8a and 8b, respectively, and are rotated two times by one rotation of the shaft 5, and are also rotated left. When it is rotating, the positional relationship shown in Fig. S (d) is shown, and when it is rotating to the right, the positional relationship shown in Fig. 3 (e) is shown.
  • Reference numeral 13 denotes a mounting portion of the hand MH (FIG. 1), and reference numeral 14 denotes a body.
  • Fig. 4 and Fig. 5 are illustrations of the pneumatic control system for decelerating the air motor 1 forward and reverse, and Fig. 5 is a partial external view of the pneumatic mechanism with the wrist HL attached. .
  • 1 is an air motor
  • 21, 31, and 41 are * electric motor valves for normal rotation, reverse rotation, and high speed of each air motor 1, each having a solenoid 2.
  • the reversing signal is used to operate the switching valve.
  • 5 1 supply portion you supply E i air
  • 1 Ma is te Pulse flop, 7 1, S 1 is]?
  • Valve, 2 Z 25, 24, 5 Z 33, 54, 42. 43, 44 and 2 are air passages for compressed air.
  • the ⁇ J valve 21 C-4c is in the state shown in the figure.] 3, between the air passages 22--25, and between 32-33
  • the high speed solenoid valve 41 has a // solenoid 41 1
  • the switching valve 41C operates and the air passages 42-44 are connected. Therefore, the compressed air flows from the picture 5C 51 through the air passages 42, 44 into the master valve ⁇ 1, and the master valve 61 moves in the direction indicated by the arrow ⁇ . To [3 ⁇ 4], and connect between the air passage ⁇ 2 and the grain. This Yui ⁇ , amount of air force and through the grain valve 7 1 of I j Eamo over one other in the air ⁇ ?; The rotation speed of the air motor 1 is reduced.
  • Figure ⁇ ⁇ shows the appearance of the pneumatic mechanism attached to the body 14 of the wrist.
  • the same parts as those in FIG. 4 are denoted by the same reference numerals.
  • FIG. 5 shows another example of pneumatic control equipment! 4), the same parts as those in FIG. ⁇ 5 similar figure, FIG. 4 and are Ru point ⁇ , solenoid valve 4 1 Seo Reno I de 4 1 a and the electromagnetic mosquitoes to atmospheric Ma is te alve 1 and d A passage The point that 43 and 44 are removed and the function of the master valve is provided in the high-speed solenoid valve 41 is provided.
  • FIG. 7 and Fig. 8 are explanatory diagrams illustrating an embodiment of the hot system according to the present invention [5], Fig. 7 is a block diagram of the same system, and Fig. 8 is a block diagram of the same. This is a time chart.
  • 101 is the air sensor attached to the wrist 8a, 8b
  • a pulse signal PB (FIGS. S (d) and (e)) and a home position signal HPP are generated according to the rotation of the air motor 1.
  • 102 is a robot illuminator]
  • receivers 103a to 103c a noise processing circuit 1G4, and a current S position cowl for recording the current position in the circuit direction (the main axis).
  • te 105, gate ⁇ road 1 00, Ru have Note Li 107, it mm 108 for storing the teaching data.
  • 109 performs 3 ⁇ 4 2 1, 3 1, 4 1 c::? 1 It is a solenoid valve drive circuit.
  • the pulse processing circuit 104 receives the pulse signals ⁇ and ⁇ ⁇ , checks the phase relationship between the pulse signals PA and PB, and performs forward rotation on the forward / reverse signal NRS (NRS- * 1 ').
  • NHS * 0--reverse rotation
  • ⁇ ⁇ ⁇ ⁇
  • one rotation pulse to ⁇ for every predetermined rotation of the air motor 1.
  • Kai ⁇ Pa ls e RP Pulse signal: [rho Alpha, made from PB, having a frequency of Pulse signals PA, m times of PB (m> i).
  • the current position counter 105 outputs the rotation position of the wrist from the home position. That is, every time the home position signal HPP is generated, the count is reset, and the forward / reverse signal is output.
  • the amount of rotational position of is constantly output.
  • Gate Kai ⁇ 100 currently positions. ⁇ Ka c down the contents of a a robotic teaching playback mode as appropriate depending on the Note re the motor 105
  • the contents of 105 are input to the gyoza 1 (38.
  • the gyoza 108 stores the teaching data at the time of reproduction.
  • the y command position read from the memory 107 and the current position of c and wrist the normal ratio 3 ⁇ 4 and a such
  • a high-speed valve operation signal DEV is output, and the absolute value of the difference e is less than or equal to a preset second value 3 ⁇ 4 ( ⁇ 3 ⁇ 4). Then, both the forward rotation and reverse saddle drive signals GWV and OGWV are output for a predetermined time, and the brake drive signal BRK is output.
  • the magnetic sensors 8a and 8b of the sensor unit 101 are output at every predetermined rotation.
  • 3 pulse signals PA and PB are output, and the pulse signals ⁇ ⁇ , PB are input to the pulse processing circuit 104 via the receivers 103a and 1 £ 33b.
  • the contents of the current position mosquitoes cormorant printer 105 is that in and the child indicating the current position of a constantly wrist.
  • the current position of a by the rotation of the air motor 1 is close to the finger-old position "of c, the difference of e is small rather Do not gradually -?]
  • the difference of e (-ot c ⁇ ⁇ ia) Te in time is pre-set Equals the first numerical value, for example, the numerical value '20'.
  • Actuator 4 1a operates to reduce air and motor 1 speed. This Yui ⁇ , ⁇ ⁇ and one other is ⁇ , and your time to reach a steady speed v 2, to continue the rotation in the thereafter the speed v 2. In the differential of e the time t 4 further dark small and Kai ⁇ to continue, Ru etc. Mr. rather 3 ⁇ 4 to 1 For example was a second numerical value set in advance.
  • the predetermined value may be equal to the above-mentioned value, or the value may be determined as follows:
  • the air motor 1 is stopped at the target position while the air motor 1 is properly tilled.
  • almost the same control is performed when the air motor 1 is stopped at the target position while being turned upside down.
  • ot e
  • the wrist is positioned in the rotation direction (the axis direction) is described.
  • the present invention is not limited to the wrist and may be an arm or other movable part. This may be the case when positioning in the straight direction.
  • the driving mechanism is an air motor using pneumatic pressure
  • the driving mechanism is not limited to pneumatic pressure, but may be a fluid dynamic mechanism using fluid such as hydraulic pressure.
  • the wrist is driven by a fluid.] 5
  • the wrist can be accurately positioned at an arbitrary position in the rotation direction.
  • FIG. 9 is a block diagram of an embodiment of the present invention for detecting a malfunction of the wrist rotation control system.] The same parts as those in FIG. 7 are denoted by the same reference numerals, and detailed description thereof will be omitted. .
  • 2CH is a timer]), and at every predetermined time interval, for example, every 400 msec, the time pulse: Pt is punctured.
  • 202 is a malfunction monitoring circuit] ?, forward rotation drive signal GWV, reverse rotation movement signal-0 OWVv rotation pulse RP and time pulse: Pt are input, respectively, and forward rotation movement signal or When at least one of the reverse rotation drive signal C0WV is 1 ', a predetermined time (time pulse
  • Rotation pulse during the Pt generation interval Monitors whether or not p has ripened, and if it occurs, turns the wrist. Output MVG to comparator 108; 2; ⁇ _, HiAtsushiki 108 electrostatic valve switching new signals
  • Both the forward rotation effect signal and the reverse rotation movement signal GGWV are set to 0 and the air motor 1 is stopped, and an alarm is output.
  • Fig. 10 is a circuit diagram of the malfunction monitoring ⁇ 2G2 in Fig. 9), where OR is OR gate, person ND1, AND2 is AND gate, and FF is initial reset. Flip being done
  • the wrist is positioned in the rotation direction (Natakata method) has been described.
  • the wrist is positioned at an arbitrary position in the rotation direction while the fluid is moving. Since the positioning can be stopped, the robot can be applied. I2g can be increased. Also, since malfunction of the wrist rotation control system can be simply detected, it is unlikely that the wrist will run away and damage the work, the pull-out, and the wrist mechanism. ⁇

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Testing And Monitoring For Control Systems (AREA)

Abstract

Systeme de commande de robot permettant de placer l'unite mobile d'un robot dans une position determinee par une instruction au moyen d'un mecanisme d'entrainement par fluide (1) comprenant: un mecanisme de commande d'entrainement par fluide possedant une soupape de freinage (41) permettant de freiner la vitesse du mecanisme d'entrainement par fluide en reduisant la quantite des gaz d'echappement, et des soupapes a solenoide de direction normale et inverse (21) et (31) permettant d'entrainer le mecanisme d'entrainement par fluide (1) dans la direction normale et inverse respectivement, des moyens de detection (101, 105) permettant de detecter la position de l'unite mobile, et une unite de commande (108) permettant de calculer la difference entre la position determinee par l'instruction ((Alpha)c) et la position actuelle ((Alpha)a) de l'unite mobile detectee, de freiner le mecanisme d'entrainement par fluide (1) en actionnant la soupape de freinage (41) lorsque la difference est egale a une premiere valeur predeterminee n1, d'actionner les soupapes a solenoide (21, 31) tant dans la direction normale que dans la direction inverse pendant une periode de temps predeterminee lorsque la difference est egale a une deuxieme valeur predeterminee n2 (inferieure a n1) et d'actionner un frein (6) pour arreter le mecanisme d'entrainement par fluide (1).
PCT/JP1982/000015 1981-01-17 1982-01-18 Systeme de commande de robot WO1982002607A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP56005299A JPS57120114A (en) 1981-01-17 1981-01-17 Robot controlling system
JP81/5299810117 1981-01-17

Publications (1)

Publication Number Publication Date
WO1982002607A1 true WO1982002607A1 (fr) 1982-08-05

Family

ID=11607362

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1982/000015 WO1982002607A1 (fr) 1981-01-17 1982-01-18 Systeme de commande de robot

Country Status (4)

Country Link
EP (1) EP0072866A4 (fr)
JP (1) JPS57120114A (fr)
KR (1) KR830008808A (fr)
WO (1) WO1982002607A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0074829A3 (fr) * 1981-09-14 1985-07-31 University Of Surrey Système pour positionner un membre
JP4643056B2 (ja) * 2001-05-17 2011-03-02 日本プラスト株式会社 風向調整装置
SE529122C2 (sv) 2004-09-24 2007-05-02 Jokab Safety Ab Skyddsanordning för områdesbegränsning och övervakning
US8736212B2 (en) 2010-12-16 2014-05-27 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method of automatic detection and prevention of motor runaway

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49116483A (fr) * 1973-03-14 1974-11-07
JPS55140906A (en) * 1979-04-19 1980-11-04 Idec Izumi Corp Reply confirming device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6014201B2 (ja) * 1975-12-01 1985-04-12 黒田精工株式会社 空圧デイジタルシリンダー装置
FR2364348A1 (fr) * 1976-09-14 1978-04-07 Missioux Jean Leon Dispositif electronique de controle de position et d'enchainement pour verins hydrauliques et pour moteurs

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49116483A (fr) * 1973-03-14 1974-11-07
JPS55140906A (en) * 1979-04-19 1980-11-04 Idec Izumi Corp Reply confirming device

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
See also references of EP0072866A4 *
Shoryoku to Jidoka, Vol. 10, No. 12, December 1979 (Tokyo), NAKANISHI KOJI "Shoshinsha notameno Jittai Kukiatsu Kairo" P. 62-63 *

Also Published As

Publication number Publication date
EP0072866A1 (fr) 1983-03-02
EP0072866A4 (fr) 1986-04-15
KR830008808A (ko) 1983-12-14
JPS57120114A (en) 1982-07-27

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